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Exoskeleton Control Based on Neural Interface

  • Ran Tao
  • Shane Xie
  • Wei Meng
Chapter

Abstract

This chapter describes an upper limb exoskeleton designed to assist elbow movement. There are many ways for an upper limb exoskeleton to obtain a human’s movement intention, but here the upper limb exoskeleton interprets its user’s intention with a combination of surface EMG signals and wrist force measurements. Two types of human-robot interaction approaches were used, one was the sEMG-based interface controller, and the other was the impedance-based interface controller. This chapter also presents an interface based on human sEMG and a physiological musculoskeletal model for human upper limb movements.

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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.School of Electrical and Electronic EngineeringUniversity of LeedsLeedsUnited Kingdom
  2. 2.Department of Mechanical EngineeringThe University of AucklandAucklandNew Zealand
  3. 3.School of Information EngineeringWuhan University of TechnologyWuhanChina
  4. 4.The University of AucklandAucklandNew Zealand

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